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pengtang / rosaria_client

Series of simple demos showing how the robot is controlled in both ROS and Mobile Robots's Aria
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Velocity commands in execution time #4

Closed rgmaidana closed 6 years ago

rgmaidana commented 6 years ago

Hello! I'm a mobile robots developer from Brazil, currently using your package to operate a Pioneer P3AT. As I have been working with this robot for quite some time now, I thought of a feature for your package that could be interesting.

I added four new key codes to teleop.cpp, corresponding to the A, Z, S and X keys. They are used to increase and decrease linear and angular velocities in execution time, eliminating the need to change the velocities in the teleop code and recompile. New variables (currentlinear, currentangular, steplinear and stepangular) and cases in the switch were created to accomodate this change. The current velocities are displayed every time the user changes them.

I hope you like it! Please feel free to contact me if you have any questions.

Regards, Renan

Alex-Keyes commented 6 years ago

Great idea @rgmaidana! your commits LGTM I'll merge them in.